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Healthcare robot technology Development

IFAC Proceedings Volumes 2008年第2期41卷 5318-5323页

作者： Sungil Yi Dongju Moon Yongju Yang Kangeun Kim Control & Perception Research Team Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel: 82-31-8040-6286

The interest in a healthy and happy life for seniors has increased of late as the quality of life in old age has become a hot issue. Moreover, the interest in health has led industrial companies to concentrate on healthcare technology. Healthcare robot technology is one of the biggest issues in the robotics field, and many companies and institutes have sought to develop a healthcare robot technology. The healthcare robot must have certain abilities that would allow it to help a person mentally and/or physically. There is no common interface module, however, for healthcare robot platforms, and few robots that have healthcare abilities exist. Therefore, developing a common interface technology and applying the technology to robot platforms can pave the way for the development of a technology that could improve the physical and mental health of humans. This paper introduces the authors’ research on a common interface module and a healthcare service robot platform. First, a common interface module is one that can be used in common in the healthcare robot area. The research on a common interface module contains the following technologies: biosignal processing modules; voice signal processing modules, which could recognize voice commands; control modules for robot actuators; and a human-friendly design for a healthcare system. Lastly, the research on a healthcare service robot platform contains three types of robot platforms: ChairBot for relaxation, RideBot for exercising, and LifecareBot for human emotions. Each robot platform has common interface modules for healthcare services and can provide specialized intelligent services based on their own objectives. In conclusion, the intellectual healthcare robot is expected to promote a new field and to pave the way for a new product.

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Development of motion-maker for an android

Development of motion-maker for an android

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seulgi Lee Byung-Rok So Ho-Gil Lee Department of Intelligent Robotics University of Science and Technology Daejeon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

An android is a robot which resembles human especially appearance and behavior. This robot is usually used for an emcee, a desk clerk, a teacher and so on. Its motion should be accurate and correspond to what it tells because a little difference of motion may bring misunderstanding. Comparing a humanoid, an android should resemble human more strictly because not-quite-high quality of mimicry leads peoplepsilas hatred.

关键词： Humans Humanoid robots Service robots Intelligent robots robot sensing systems robotics and automation Databases Educational robots Joints Tactile sensors

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Three-layered hybrid architecture for emotional reactive system

Three-layered hybrid architecture for emotional reactive sys...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jun-Young Jung Dong-Wook Lee Hyun-Sub Park Ho-Gil Lee Department of Intelligent Robotics Korea University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we present the design of an emotional reactive system based on three-layered hybrid architecture. The purpose of emotional reactive system is to make robot software system that has its autonomous emotion in interaction with human. The three-layered hybrid architecture is composed of Hardware abstraction layer, Reactive Layer and Deliberative Layer and developed for autonomous mobile robots. We applied this architecture to make android EveR-2psilas emotional reactive system. With this architecture, EveR-1 could make robot emotion generated by external stimulus and play its emotional behavior in robot task execution.

关键词： Service robots Intelligent robots Computer architecture Human robot interaction Software systems robotics and automation Hybrid intelligent systems Electronic mail Automatic control Control systems

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Flexible Docking Mechanism Using Combination of Magnetic Force with Error-Compensation Capability

Flexible Docking Mechanism Using Combination of Magnetic For...

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2008 IEEE International Conference on Automation Science and Engineering (CASE 2008), vol.2

作者： Se-gon Roh Jae Hoon Park Young Kouk Song KwangWoong Yang Moosung Choi Hong-Seok Kim Hogil Lee Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan South Korea

An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

关键词： Bridges USA Councils Automation Conferences

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Gait planning of a quadruped walking robot based on the operational space control

Gait planning of a quadruped walking robot based on the oper...

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39th International Symposium on robotics, ISR 2008

作者： Kang, Tae Hun Bae, Ji-Hun Kim, Sung Hoon Choi, Hyouk Ryeol Park, Sangdeok Pohang Institute of Intelligent Robotics San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk Korea Republic of School of Mechanical Engineering Sung Kyun Kwan University 300 Ch'onch'on-dong Jangan-gu Suwon Kyonggi-do Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Korea Republic of

In this research, a comprehensive study is performed on the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller based on the ground reaction force control provides a useful framework for controlling a quadruped walking robot. Finally, the proposed method is validated via dynamic simulations.

关键词： Energy efficiency

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Reliable feature point detection and object pose estimation using photometric quasi-invariant SIFT

Reliable feature point detection and object pose estimation ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jae-Han Park Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg South Korea Div. of Appl. Robot Technol. KITECH Ansan Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology KITECH Ansan South Korea

Object pose estimation from stereo images with unknown correspondence is a thoroughly studied problem in the computer vision and robot engineering literatures. Especially, it is important to detect the desirable corresponding points from images for object pose estimation. For this, many approaches have been proposed. Among them, the local feature descriptor, which describe the feature points that are robust to image deformations in an object or image, is one of the most promising approaches that has been applied to the stable feature detection problem successfully. Although any descriptors including the SIFT represent superior performance, these are based on luminance information rather than color information thereby resulting in instability to photometric variations such as shadows, highlights, and illumination changes. Therefore, we propose a novel method which extracts the interest points that are insensitive to both geometric and photometric variations in order to estimate more accurate and desirable object pose. In this method, we use photometric quasi-invariant features based on the dichromatic reflection model in order to achieve photometric invariance, and the SIFT is used for geometric invariance as well. The performance of the proposed method is evaluated with other local descriptors. Experimental results show that our method gives similar performance or outperforms them with respect to various imaging conditions. Finally, we estimate object pose by using the features extracted via the proposed method.

关键词： Computer vision Object detection Photometry Stereo vision robot vision systems Reliability engineering Robustness Lighting Data mining Reflection

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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Development of Flexible Laboratory Automation Platform using Mobile Agents in the Clinical Laboratory

Development of Flexible Laboratory Automation Platform using...

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2008 IEEE International Conference on Automation Science and Engineering (CASE 2008), vol.2

作者： Byung June Choi Sung Moon Jin Seung Hoon Shin Ja Choon Koo Sung Moo Ryew Min Cheol Kim JinHyun Kim Woong Hee Son Ki Tak Ahn Wankyun Chung Hyouk Ryeol Choi Division of Applied Robot Technology Korea Institute of Industrial and Technology Cheonan South Korea School of Mechanical Engineering Sungkyunkwan University Suwon The Republic of Korea Pohang Institute of Intelligent Robotics Pohang South Korea Robotous Company Seongnam South Korea School of Mechanical Engineering Sungkyunkwan University Suwon South Korea KnR System Inc. Youngin The Republic of Korea Robotous Co Seongnam The Republic of Korea Department of Mechanical Engineering Seoul National University of Technology Seoul The Republic of Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan The Republic of Korea KnR System Inc. Yongin si South Korea Pohang Institute of Intelligent Robotics Pohang The Republic of Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang The Republic of Korea

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and other instruments. Also, the mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. The Biorobot platform based on mobile agents can control throughput according to the amount of tests. Also, the operation and maintenance of the system can be improved because its components are easily replaceable. To evaluate feasibility for Biorobot platform, the system was manufactured and validated by preliminary experiments.

关键词： Bridges USA Councils Automation Conferences

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An enhanced vision processing algorithm for a micro-manipulation system

An enhanced vision processing algorithm for a micro-manipula...

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2007 IEEE International Workshop on robotic and Sensor Environments, ROSE 2007

作者： Ihn, Y.S. Ryu, S.H. Choi, B.J. Ha, S.H. Choi, H.R. Lee, S.M. Koo, J.C. Department of Mechanical Engineering Sung Kyun Kwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)1424415276

As the physical sizes of many electrical devices and their components shrink to sometimes only a few microns, expanding dextrousness and obtaining rapidity of a precise micro-manipulation system become one of the major issues in the industry. Especially for an assembly process that handles complicated mechanical alignments of many tiny objects in the three-dimensional space, a proper identification of the alignment errors and a fast decision of manipulation plan should be guaranteed in order to keep the manufacturing costs in an affordable range. In most of the current precise manufacturing processes, identification of the misalignment is normally carried out by machine vision systems. And the limited data process speed of the vision system usually hampers enhancement of overall system performance. In the present work, a modified binary region median filter combined with a labeling based segmentation scheme for the enhancement of a machine vision system is introduced. The suggested algorithm shows not only shows improved data processing speed but provides a better accuracy on the identification of a target object. © 2007 IEEE.

关键词： Computer vision

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Visual Servoing of a Wheeled Mobile robot using Unconstrained Optimization with a Ceiling Mounted Camera

Visual Servoing of a Wheeled Mobile Robot using Unconstraine...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

We propose an image-based visual servoing algorithm of a wheeled mobile robot utilizing a ceiling mounted camera. The visual navigation of a mobile robot is defined as an unconstrained optimization problem to minimize the image difference between the goal position and the position of a mobile robot in the image plane. Full New ton's method is applied for unconstrained optimization. We also propose a method to find the Hessian term of the image error using a secant approximation method. The performance of visual servoing was evaluated using the simulation.

关键词： Visual servoing Mobile robots robot vision systems Cameras robot kinematics Jacobian matrices Motion planning Service robots Human robot interaction Orbital robotics

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